基于ZMP的拟人机器人步态规划

拟人机器人具有广阔的应用前景,研制工作得到了各国的重视,近年来已取得巨大的 进展,但仍存在大量的理论和技术问题有待深入研究,基于零力矩点（ZMP）的轨迹规划是 需解决的关键技术之一．本文比较分析了一般的双足步行机与拟人机器人的步态规划特点和 基于双足步行的两步规划方法,提出了一种适用于拟人机器人步态规划的新方法——逆两步 规划法,仿真研究表明采用这种方法规划ZMP轨迹是可行的．     

A silicon‐chip‐based light valve with reflective twisted‐nematic mode for high‐definition projectors

Crystalline‐silicon‐chip‐based reflective light valves are suitable for realizing high definition and bright liquid‐crystal projectors. We have developed an XGA (1025 × 769 pixels) silicon‐chip‐based light valve with a diagonal display area of 2.54 cm (1 in.). The reflective twisted‐nematic mode was examined by using the Jones matrix method as a display mode, and the normally white reflective twisted‐nematic mode was selected. This mode is suitable for a narrow cell gap, and a fast response time can be expected. In addition, the driving voltage of this mode is low and has good chromaticity with small retardation. The cell gap of the light valve is 2 μm. The cell gap support is made using spacer posts formed on the silicon chip with a photodefinable resin. The response time is 12 msec, including both rise and fall times. The contrast ratio is more than 1000 at 5 Vrms.     

Distributed Object Based Design: Vertical Fragmentation of Classes

Processing costs in distributed environments is most often dominated by the network communications required for interprocess communication. It is well known from distributed relational database design research that careful placement of data near the users or processors where it is used is mandatory or system performance will suffer greatly. Data placement in relational database systems is comparatively simple because the data is flat, structured, and passive. Objects are characterized by an inheritance hierarchy (other hierarchies could also be considered including, class composition and execution), unstructured (possibly dynamic data), and contain a behavioral component that defines how the data is accessed by encapsulating it within the object per se. Algorithms currently exist for fragmenting relations, but the fragmentation and allocation of objects is still a relatively untouched field of study.Similar to relations, objects can be fragmented both horizontally and vertically. Vertical fragmentation must minimize application execution time by splitting a class so that all class attributes and methods frequently accessed together are grouped together into a single fragment. This paper adopts a classification of classes into four main models, and contributes by proposing algorithms for vertically fragmenting the four realizable class models consisting of simple or complex attributes combined with simple or complex methods. Vertical fragmentation entails splitting classes into a set of smaller equivalent classes (actually fragments of the class' extent) that can later be placed precisely where they are used. Our approach consists of grouping into a fragment, all attributes and methods of the class frequently accessed together by applications running on either this class, its subclasses, its containing classes or its complex method classes.     

Negative Ion Mobility in Superfluid 3He Under High Magnetic Field

The negative ion mobility has been measured in superfluid ³He at pressures above 20 bar under high magnetic field up to 14 Tesla. It does not depend on the temperature in the normal phase, followed by a rapid increase below the superfluid transition in both A ₁ and A ₂ phase. The isothermal mobility is found to be independent of the magnetic field in the normal and A ₂ phase, while it decreases with increasing magnetic field in the A ₁ phase. This field dependence is explained by taking account of the field dependence of the transition temperature (T _{A 1}) between the normal and the A ₁ phase. Therefore the scattering cross section between, the negative ion and the ³He quasiparticles has no magnetic field dependence both in the superfluid and the normal phase.     

Multiscale structure and properties of cast and deformation processed polycrystalline NiTi shape-memory alloys

The objective of this study is to examine fundamental processing-structure-property relationships in polycrystalline NiTi bars. Three different polycrystalline Ti-50.9 at. pct Ni (Ti-55.7 wt pct Ni) materials were examined: (1) cast, (2) cast then hot rolled, and (3) cast, hot rolled, then cold drawn. The structure of the materials was investigated at various scales ranging from nanometers to micrometers. The cast materials contained random crystallographic textures along the loading axis of the extracted samples. The hot-rolled and cold-drawn materials contained a strong 〈111〉 texture parallel to the deformation-processing direction. The high-temperature hot-rolling process facilitated recrystallization and recovery, and curtailed precipitate formation, leaving the hot-rolled and cold-drawn materials in near solutionized states. The cold-drawn material contained a high density of dislocations and martensite. After a mild aging treatment, all three materials contained distributed coherent Ti₃Ni₄ precipitates on the order of 10 nm in size. The cast material was capable of full shape-memory transformation strain recovery up to approximately 5 pct strain at room temperature under both tension and compression. The hot-rolled and cold-drawn materials demonstrated significant tension-compression stress-strain asymmetry owing to their strong crystallographic texture. Under compression, the deformation-processed materials were only capable of 3 pct transformation strain recovery while under tension they were capable of nearly 7 pct transformation strain recovery. Based on the present results, the presence of small coherent Ti₃Ni₄ precipitates is determined to be the driving force for the favorable strain transformation strain recovery properties in all three materials, despite drastically different grain sizes and crystallographic textures. The unique dependence of elastic modulus on stress-state, temperature, and structure is also presented and discussed for the deformation-processed materials. In addition, we demonstrate that the appearance of a Lüders band transformation under tensile loading can be controlled by material structure. Specifically, the presence of significant martensite and dislocations in the cold-drawn materials was shown to mitigate the Lüders band propagation and result in a more gradual transformation.     

油罐检测爬壁机器人结构与控制系统设计

研究智能爬壁机器人检测技术及其系统 ,提出了机器人在大型垂直罐壁移动作业的路径规划方法 ,并分析了抗倾覆机构的作用 ,设计给出了机器人总体结构和控制系统 .系统以磁吸附爬壁机器人为运动载体 ,采用非接触式无损检测技术 ,并配备多种传感器 ,具备较高的智能化水平 .现场实验表明 ,该系统自动化程度高、运动稳定可靠、定位精度高 ,大幅度提高了检测效率 .     

调度自动化系统EMS应用软件在地区电网调度中的运用

能量管理系统EMS(Energy Management System)是以计算机为基础的现代电力系统的综合自动化系统，主要针对发电和输电系统，用于大区级电网和省级电网的调度中心．本文详细阐述了调度自动化系统EMS应用软件的组成、基本功能和用途，并以吉安地区电网为例，介绍了其在电网调度自动化系统中的具体应用，为地区电网调度提供了可靠的科学分析手段。     

Unknown odor recognition using Euclidean Fuzzy similarity-based Self-Organized Network inspired by Immune Algorithm

To deal with unknown odor recognition problem for a developed artificial odor discrimination system, Euclidean Fuzzy similarity-based Self-Organized Network inspired by Immune Algorithm (EF-SONIA) is proposed. Euclidean fuzzy similarity enables a zero similarity calculation between an unknown odor vector and hidden unit vectors, so that the system can recognize the unknown odor. In addition, an elliptical approach for fuzziness determination is proposed. The elliptical approach can approximate an appropriate fuzziness, so that the unknown odor recognition accuracy is improved. Experiments on three datasets of three-mixture vegetal odors show that the recognition accuracy of the proposed method is 20% better than those of the conventional method. The system is very promising to be used for a real development of dog robot that enables localization and identification of dangerous natural gas.     

FPC‐free LCD panel with capacitive coupling for transmission of signals and power

Abstract— A flexible‐printed‐cable (FPC) free liquid‐crystal‐display (LCD) panel by using a capacitive‐coupling technique has been developed. A QQVGAeight‐color image was successfully displayed for the first time without attaching any signal or power cables to the panel. The receiving circuitry and capacitive‐coupling electrodes were integrated on the LCD panel using a low‐temperature polysilicon (LTPS) fabrication process. In the proposed digital coding method, the receiving circuit converts derivative waveform signals via the capacitive coupling to conventional logic‐level signals. The maximum data rate of 2.4‐Mbps × 3ch (RGB) was achieved. In addition, LTPS low‐capacitance diode bridge and regulator enabled us to obtain stable DC power of 2.4 mW on the panel from the AC‐power signal. This study is the first step towards integrating the wireless‐communication function on the display panel to achieve a high‐value‐added flat‐panel display (FPD).